submission version

cloc/run-cloc.sh

@@ -24,10 +24,13 @@ $CLOC_CMD --report-file=common-01-input-result.txt ../ros3rag.common/src/main/re
 $CLOC_CMD --report-file=placeA-01-input-result.txt ../ros3rag.placeA/src/main/ja* 2>>cloc-errors.log
 $CLOC_CMD --report-file=placeB-01-input-result.txt --categorized=cats.txt --ignored=ignored.txt ../ros3rag.placeB/src/main/ja* 2>>cloc-errors.log
 
+$CLOC_CMD --report-file=static-02-ragconnect-result.txt static-Ragconnect.jadd 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeA-02-ragconnect-result.txt ../ros3rag.placeA/src/gen/jastadd/*.relast ../ros3rag.placeA/src/gen/jastadd/RagConnect.jadd 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeB-02-ragconnect-result.txt ../ros3rag.placeB/src/gen/jastadd/*.relast ../ros3rag.placeB/src/gen/jastadd/RagConnect.jadd 2>>cloc-errors.log
 # $CLOC_CMD --report-file=base-gen-result.txt ../ros3rag.base/src/gen 2>>cloc-errors.log
-$CLOC_CMD --report-file=placeA-02-gen-result.txt ../ros3rag.placeA/src/gen 2>>cloc-errors.log
-$CLOC_CMD --report-file=placeB-02-gen-result.txt ../ros3rag.placeB/src/gen 2>>cloc-errors.log
-$CLOC_CMD --report-file=common-02-gen-result.txt ../ros3rag.common/build/generated/source/proto/main/java/de 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeA-03-gen-result.txt ../ros3rag.placeA/src/gen 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeB-03-gen-result.txt ../ros3rag.placeB/src/gen 2>>cloc-errors.log
+$CLOC_CMD --report-file=common-03-gen-result.txt ../ros3rag.common/build/generated/source/proto/main/java/de 2>>cloc-errors.log
 
 
 # CFC_CMD='grep -o 'if'\|'for'\|'return''

ros3rag.placeB/src/main/jastadd/WorldModelB.connect

@@ -26,19 +26,20 @@ ParseCommand maps byte[] bytes to de.tudresden.inf.st.ceti.Command {:
 :}
 
 ConvertCommand maps de.tudresden.inf.st.ceti.Command command to Operation {:
+  WorldModelB model = (WorldModelB) this;
   if (command.hasPickAndPlace()) {
     return new PickAndPlace()
-      .setObjectToPick(worldModelB().getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(command.getPickAndPlace().getIdPick()).asLogicalMovableObject())
-      .setTargetLocation(worldModelB().getMyScene().resolveObjectOfInterest(command.getPickAndPlace().getIdPlace()).asDropOffLocation())
-    .setRobotToExecute(worldModelB().findRobot(command.getPickAndPlace().getIdRobot()).get());
+      .setObjectToPick(model.getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(command.getPickAndPlace().getIdPick()).asLogicalMovableObject())
+      .setTargetLocation(model.getMyScene().resolveObjectOfInterest(command.getPickAndPlace().getIdPlace()).asDropOffLocation())
+    .setRobotToExecute(model.findRobot(command.getPickAndPlace().getIdRobot()).get());
   } else if (command.hasConfigChange()) {
     return new ConfigChange()
-      .setCollaborationZone(worldModelB().getMyScene().resolveObjectOfInterest(command.getConfigChange().getIdCollaborationZone()).asDropOffLocation().asCollaborationZone())
-      .setRobotToExecute(worldModelB().findRobot(command.getConfigChange().getIdRobotNewOwner()).get());
+      .setCollaborationZone(model.getMyScene().resolveObjectOfInterest(command.getConfigChange().getIdCollaborationZone()).asDropOffLocation().asCollaborationZone())
+      .setRobotToExecute(model.findRobot(command.getConfigChange().getIdRobotNewOwner()).get());
   } else if (command.hasEvacuate()) {
     return new Evacuate()
-      .setCollaborationZone(worldModelB().getMyScene().resolveObjectOfInterest(command.getEvacuate().getIdCollaborationZone()).asDropOffLocation().asCollaborationZone())
-      .setRobotToExecute(worldModelB().findRobot(command.getEvacuate().getIdRobot()).get());
+      .setCollaborationZone(model.getMyScene().resolveObjectOfInterest(command.getEvacuate().getIdCollaborationZone()).asDropOffLocation().asCollaborationZone())
+      .setRobotToExecute(model.findRobot(command.getEvacuate().getIdRobot()).get());
   }
   return new ErrorOperation().setErrorMessage("Could not parse operation " + command);
 :}

ros3rag.placeB/src/main/jastadd/WorldModelB.jadd

@@ -567,3 +567,13 @@ aspect Resolving {
 //  // do not resolve real regions and real locations (send by site-A)
 //  refine RefResolverStubs eq LogicalMovableObject.resolveMyLocationByToken(String name) = null;
 }
+aspect RagConnectAddOn {
+  public void WorldModelB.ragconnectResetEvaluationCounter() {
+    _ragconnect_evaluationCounter.reset();
+  }
+  class EvaluationCounter {
+    public void reset() {
+      counters = new java.util.HashMap<>();
+    }
+  }
+}

ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java

@@ -109,6 +109,7 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
   @Override
   protected WorldModelB createWorldModel() {
     WorldModelB result = new WorldModelB();
+    result.ragconnectResetEvaluationCounter();
     result.addOtherScene(new LogicalScene());
     return result;
   }
@@ -145,8 +146,8 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
         "OtherScene");
     checkSuccess(model.connectNextOperation(mqttUri(config.forB.topicCommand, config), false),
         "NextOperation");
-//    checkSuccess(model.connectExecutedOperation(mqttUri(config.forB.topicCommand, config)),
-//        "OperationHistory");
+    checkSuccess(model.connectExecutedOperation(mqttUri(config.forB.topicCommand, config)),
+        "OperationHistory");
     for (Robot robot : model.getRobotList()) {
       // self-loop
       checkSuccess(robot.connectOwnedCollaborationZoneNames(mqttUri(config.forB.topicCommand, config)),

settings.gradle

@@ -10,7 +10,7 @@ include 'ros3rag.placeA'
 include 'ros3rag.placeB'
 include 'ros3rag.common'
 
-include 'ros3rag.altPlaceB'
+//include 'ros3rag.altPlaceB'
 
 include 'ros3rag.scaling.a'
 include 'ros3rag.scaling.b'